Robust H∞ filter design with variance constraints and parabolic pole assignment

Copyright [2006] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.In this letter, we consider a multiobjective filtering problem for uncertain linear continuous time-invariant systems subject to error variance constraints. A linear filter is used to estimate a linear combination of the system states. The problem addressed is the design of a filter such that, for all admissible parameter uncertainties, the following three objectives are simultaneously achieved: 1) the filtering process is P-stable, i.e., the poles of the filtering matrix are located inside a parabolic region; 2) the steady-state variance of the estimation error of each state is not more than the individual prespecified value; and 3) the transfer function from exogenous noise inputs to error state outputs meets the prespecified H∞ norm upper-bound constraint. An effective algebraic matrix inequality approach is developed to derive both the existence conditions and the explicit expression of the desired filters. An illustrative example is used to demonstrate the usefulness of the proposed design approach

Controller design with regional pole constraints - Hyperbolic and horizontal strip regions

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/76652/1/AIAA-1992-4401-149.pd

Travel Report from Australia and China

The report gives a summary of Björn Wittenmark's visits to China and Australia during the academic year1986 /87 . An overview of the research is given together with a summary of impressions during visits at differentuniversities

Magnetic Actuators and Suspension for Space Vibration Control

The research on microgravity vibration isolation performed at the University of Virginia is summarized. This research on microgravity vibration isolation was focused in three areas: (1) the development of new actuators for use in microgravity isolation; (2) the design of controllers for multiple-degree-of-freedom active isolation; and (3) the construction of a single-degree-of-freedom test rig with umbilicals. Described are the design and testing of a large stroke linear actuator; the conceptual design and analysis of a redundant coarse-fine six-degree-of-freedom actuator; an investigation of the control issues of active microgravity isolation; a methodology for the design of multiple-degree-of-freedom isolation control systems using modern control theory; and the design and testing of a single-degree-of-freedom test rig with umbilicals

Computer-aided circuit design during the initial stages

Imperial Users onl

Satellite Relative Motion Control for MIT\u27s SPHERES Program

Autonomous formation flight concepts and algorithms have great potential to revolutionize spacecraft operations enabling missions to perform autonomous docking, in-space refueling, in-space robotic assembly, and space debris removal. Such tasks require the implementation of speed and path control algorithms to maneuver satellites along relative paths with specified rates along those paths. This thesis uses MATLAB® and SIMULINK® to design and simulate a control algorithm capable of providing relative speed and path control between satellites with a pointing error of less than two degrees, a position error of less than two millimeters, and a millimeter per second of velocity error. The enclosed research provides enhancements to Massachusetts Institute of Technology\u27s SPHERES (Synchronized Position Hold Engage Reorient Experimental Satellites) program, a testbed for multi-object rendezvous and docking research. This control algorithm is to be used on-board the International Space Station to allow MIT\u27s SPHERES program to continue to provide a practical intermediate step to develop, test, and validate autonomous formation spaceflight algorithms. Furthermore, the simulation tool used to develop the control algorithm allows a greater community of control engineers to interact with SPHERES purely in the MATLAB® development environment

Robust control of systems with real parameter uncertainty and unmodelled dynamics

During this research period we have made significant progress in the four proposed areas: (1) design of robust controllers via H infinity optimization; (2) design of robust controllers via mixed H2/H infinity optimization; (3) M-delta structure and robust stability analysis for structured uncertainties; and (4) a study on controllability and observability of perturbed plant. It is well known now that the two-Riccati-equation solution to the H infinity control problem can be used to characterize all possible stabilizing optimal or suboptimal H infinity controllers if the optimal H infinity norm or gamma, an upper bound of a suboptimal H infinity norm, is given. In this research, we discovered some useful properties of these H infinity Riccati solutions. Among them, the most prominent one is that the spectral radius of the product of these two Riccati solutions is a continuous, nonincreasing, convex function of gamma in the domain of interest. Based on these properties, quadratically convergent algorithms are developed to compute the optimal H infinity norm. We also set up a detailed procedure for applying the H infinity theory to robust control systems design. The desire to design controllers with H infinity robustness but H(exp 2) performance has recently resulted in mixed H(exp 2) and H infinity control problem formulation. The mixed H(exp 2)/H infinity problem have drawn the attention of many investigators. However, solution is only available for special cases of this problem. We formulated a relatively realistic control problem with H(exp 2) performance index and H infinity robustness constraint into a more general mixed H(exp 2)/H infinity problem. No optimal solution yet is available for this more general mixed H(exp 2)/H infinity problem. Although the optimal solution for this mixed H(exp 2)/H infinity control has not yet been found, we proposed a design approach which can be used through proper choice of the available design parameters to influence both robustness and performance. For a large class of linear time-invariant systems with real parametric perturbations, the coefficient vector of the characteristic polynomial is a multilinear function of the real parameter vector. Based on this multilinear mapping relationship together with the recent developments for polytopic polynomials and parameter domain partition technique, we proposed an iterative algorithm for coupling the real structured singular value

Sliding surface optimization via regional pole placement for a class of nonlinear systems

In this paper, a new approach is introduced which combines Eigenvalue Assignment, State Dependent Riccati Equation (SDRE) and Sliding Mode Control (SMC) methods for nonlinear systems. In the classical SDRE based SMC (SDRESMC) approach, a nonlinear system is frozen at each time instant to obtain a linear-like structure model that is used to design a sliding surface (SS) at each time instant. This mechanism produces a state-dependent SS to hold the states on the SS. The approach proposed here is built on this mechanism and offers a new way to design a state-dependent SS for nonlinear systems so that the pointwise eigenvalues of the closed-loop system matrix of the control-free dynamics in the regular form can be kept in a specified disk. This gives a great advantage to shape the transient response characteristics. The performance of the nonlinear controller approach proposed here is investigated in simulations

The Burst and Transient Source Experiment Earth Occultation Technique

An Earth orbiting detector sensitive to gamma ray photons will see step-like occultation features in its counting rate when a gamma ray point source crosses the Earth's limb. This is due to the change in atmospheric attenuation of the gamma rays along the line of sight. In an uncollimated detector, these occultation features can be used to locate and monitor astrophysical sources provided their signals can be individually separated from the detector background. We show that the Earth occultation technique applied to the Burst and Transient Source Experiment (BATSE) on the Compton Gamma Ray Observatory (CGRO) is a viable and flexible all-sky monitor in the low energy gamma ray and hard X-ray energy range (20 keV - 1 MeV). The method is an alternative to more sophisticated photon imaging devices for astronomy, and can serve well as a cost-effective science capability for monitoring the high energy sky. Here we describe the Earth occultation technique for locating new sources and for measuring source intensity and spectra without the use of complex background models. Examples of transform imaging, step searches, spectra, and light curves are presented. Systematic uncertainties due to source confusion, detector response, and contamination from rapid background fluctuations are discussed and analyzed for their effect on intensity measurements. A sky location-dependent average systematic error is derived as a function of galactic coordinates. The sensitivity of the technique is derived as a function of incident photon energy and also as a function of angle between the source and the normal to the detector entrance window. Occultations of the Crab Nebula by the Moon are used to calibrate Earth occultation flux measurements independent of possible atmospheric scattering effects.Comment: 39 pages, 24 figures. Accepted for publication in the Astrophysical Journal Supplement